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<div class="title">accumulators.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2014-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_COMMON_IMPL_DETAIL_ACCUMULATORS_HPP</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_COMMON_IMPL_DETAIL_ACCUMULATORS_HPP</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;boost/mpl/filter_view.hpp&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;boost/fusion/include/mpl.hpp&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;boost/fusion/include/for_each.hpp&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;boost/fusion/include/as_vector.hpp&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">namespace </span>detail</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="comment">/* Below are several helper accumulator structures that are used by the</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="comment">     * `CentroidPoint` class. Each of them is capable of accumulating</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="comment">     * information from a particular field(s) of a point. The points are</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="comment">     * inserted via `add()` and extracted via `get()` functions. Note that the</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="comment">     * accumulators are not templated on point type, so in principle it is</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="comment">     * possible to insert and extract points of different types. It is the</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="comment">     * responsibility of the user to make sure that points have corresponding</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="comment">     * fields. */</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structpcl_1_1detail_1_1_accumulator_x_y_z.html">   65</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1detail_1_1_accumulator_x_y_z.html">AccumulatorXYZ</a></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="comment">// Requires that point type has x, y, and z fields</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">typedef</span> pcl::traits::has_xyz&lt;boost::mpl::_1&gt; IsCompatible;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="comment">// Storage</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      Eigen::Vector3f xyz;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <a class="code" href="structpcl_1_1detail_1_1_accumulator_x_y_z.html">AccumulatorXYZ</a> () : xyz (Eigen::Vector3f::Zero ()) { }</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      add (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; t) { xyz += t.getVector3fMap (); }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      get (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; t, <span class="keywordtype">size_t</span> n)<span class="keyword"> const </span>{ t.getVector3fMap () = xyz / n; }</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    };</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="structpcl_1_1detail_1_1_accumulator_normal.html">   86</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1detail_1_1_accumulator_normal.html">AccumulatorNormal</a></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    {</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="comment">// Requires that point type has normal_x, normal_y, and normal_z fields</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">typedef</span> pcl::traits::has_normal&lt;boost::mpl::_1&gt; IsCompatible;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="comment">// Storage</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      Eigen::Vector4f normal;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <a class="code" href="structpcl_1_1detail_1_1_accumulator_normal.html">AccumulatorNormal</a> () : normal (Eigen::Vector4f::Zero ()) { }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="comment">// Requires that the normal of the given point is normalized, otherwise it</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="comment">// does not make sense to sum it up with the accumulated value.</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      add (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; t) { normal += t.getNormalVector4fMap (); }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      get (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; t, <span class="keywordtype">size_t</span>)<span class="keyword"> const</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="preprocessor">#if EIGEN_VERSION_AT_LEAST (3, 3, 0)</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        t.getNormalVector4fMap () = normal.normalized ();</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keywordflow">if</span> (normal.squaredNorm() &gt; 0)</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          t.getNormalVector4fMap () = normal.normalized ();</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          t.getNormalVector4fMap () = Eigen::Vector4f::Zero ();</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    };</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="structpcl_1_1detail_1_1_accumulator_curvature.html">  119</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1detail_1_1_accumulator_curvature.html">AccumulatorCurvature</a></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="comment">// Requires that point type has curvature field</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keyword">typedef</span> pcl::traits::has_curvature&lt;boost::mpl::_1&gt; IsCompatible;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="comment">// Storage</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keywordtype">float</span> curvature;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <a class="code" href="structpcl_1_1detail_1_1_accumulator_curvature.html">AccumulatorCurvature</a> () : curvature (0) { }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      add (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; t) { curvature += t.curvature; }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      get (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; t, <span class="keywordtype">size_t</span> n)<span class="keyword"> const </span>{ t.curvature = curvature / n; }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    };</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="structpcl_1_1detail_1_1_accumulator_r_g_b_a.html">  138</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1detail_1_1_accumulator_r_g_b_a.html">AccumulatorRGBA</a></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="comment">// Requires that point type has rgb or rgba field</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keyword">typedef</span> pcl::traits::has_color&lt;boost::mpl::_1&gt; IsCompatible;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="comment">// Storage</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keywordtype">float</span> r, g, b, a;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <a class="code" href="structpcl_1_1detail_1_1_accumulator_r_g_b_a.html">AccumulatorRGBA</a> () : r (0), g (0), b (0), a (0) { }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      add (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; t)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        r += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (t.r);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        g += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (t.g);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        b += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (t.b);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        a += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (t.a);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      get (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; t, <span class="keywordtype">size_t</span> n)<span class="keyword"> const</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        t.rgba = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (a / n) &lt;&lt; 24 |</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                 <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (r / n) &lt;&lt; 16 |</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                 <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (g / n) &lt;&lt;  8 |</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                 <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (b / n);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    };</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="structpcl_1_1detail_1_1_accumulator_intensity.html">  169</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1detail_1_1_accumulator_intensity.html">AccumulatorIntensity</a></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="comment">// Requires that point type has intensity field</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="keyword">typedef</span> pcl::traits::has_intensity&lt;boost::mpl::_1&gt; IsCompatible;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="comment">// Storage</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keywordtype">float</span> intensity;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <a class="code" href="structpcl_1_1detail_1_1_accumulator_intensity.html">AccumulatorIntensity</a> () : intensity (0) { }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      add (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; t) { intensity += t.intensity; }</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      get (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; t, <span class="keywordtype">size_t</span> n)<span class="keyword"> const </span>{ t.intensity = intensity / n; }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    };</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="structpcl_1_1detail_1_1_accumulator_label.html">  188</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1detail_1_1_accumulator_label.html">AccumulatorLabel</a></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    {</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="comment">// Requires that point type has label field</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keyword">typedef</span> pcl::traits::has_label&lt;boost::mpl::_1&gt; IsCompatible;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="comment">// Storage</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="comment">// A better performance may be achieved with a heap structure</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      std::map&lt;uint32_t, size_t&gt; labels;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <a class="code" href="structpcl_1_1detail_1_1_accumulator_label.html">AccumulatorLabel</a> () { }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      add (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; t)</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      {</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        std::map&lt;uint32_t, size_t&gt;::iterator itr = labels.find (t.label);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keywordflow">if</span> (itr == labels.end ())</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;          labels.insert (std::make_pair (t.label, 1));</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          ++itr-&gt;second;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      get (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; t, <span class="keywordtype">size_t</span>)<span class="keyword"> const</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <span class="keywordtype">size_t</span> max = 0;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        std::map&lt;uint32_t, size_t&gt;::const_iterator itr;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <span class="keywordflow">for</span> (itr = labels.begin (); itr != labels.end (); ++itr)</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;          <span class="keywordflow">if</span> (itr-&gt;second &gt; max)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;          {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;            max = itr-&gt;second;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;            t.label = itr-&gt;first;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      }</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    };</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="comment">/* This is a meta-function that may be used to create a Fusion vector of</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="comment">     * those accumulator types that are compatible with given point type(s). */</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>1T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>2T = Po<span class="keywordtype">int</span>1T&gt;</div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="structpcl_1_1detail_1_1_accumulators.html">  229</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1detail_1_1_accumulators.html">Accumulators</a></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    {</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      <span class="comment">// Check if a given accumulator type is compatible with a given point type</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> AccumulatorT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="structpcl_1_1detail_1_1_accumulators_1_1_is_compatible.html">  234</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1detail_1_1_accumulators_1_1_is_compatible.html">IsCompatible</a> : boost::mpl::apply&lt;typename AccumulatorT::IsCompatible, PointT&gt; { };</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="comment">// A Fusion vector with accumulator types that are compatible with given</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="comment">// point types</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <span class="keyword">typedef</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        <span class="keyword">typename</span> boost::fusion::result_of::as_vector&lt;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;          <span class="keyword">typename</span> boost::mpl::filter_view&lt;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;            boost::mpl::vector&lt;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;              <a class="code" href="structpcl_1_1detail_1_1_accumulator_x_y_z.html">AccumulatorXYZ</a></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;            , <a class="code" href="structpcl_1_1detail_1_1_accumulator_normal.html">AccumulatorNormal</a></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;            , <a class="code" href="structpcl_1_1detail_1_1_accumulator_curvature.html">AccumulatorCurvature</a></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;            , <a class="code" href="structpcl_1_1detail_1_1_accumulator_r_g_b_a.html">AccumulatorRGBA</a></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;            , <a class="code" href="structpcl_1_1detail_1_1_accumulator_intensity.html">AccumulatorIntensity</a></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;            , <a class="code" href="structpcl_1_1detail_1_1_accumulator_label.html">AccumulatorLabel</a></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;            &gt;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          , boost::mpl::and_&lt;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;              <a class="code" href="structpcl_1_1detail_1_1_accumulators_1_1_is_compatible.html">IsCompatible&lt;boost::mpl::_1, Point1T&gt;</a></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;            , <a class="code" href="structpcl_1_1detail_1_1_accumulators_1_1_is_compatible.html">IsCompatible&lt;boost::mpl::_1, Point2T&gt;</a></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;            &gt;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;          &gt;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        &gt;::type</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      type;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    };</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="comment">/* Fusion function object to invoke point addition on every accumulator in</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;<span class="comment">     * a fusion sequence. */</span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00262"></a><span class="lineno"><a class="line" href="structpcl_1_1detail_1_1_add_point.html">  262</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1detail_1_1_add_point.html">AddPoint</a></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    {</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; p;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      <a class="code" href="structpcl_1_1detail_1_1_add_point.html">AddPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point) : p (point) { }</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> AccumulatorT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      operator () (AccumulatorT&amp; accumulator)<span class="keyword"> const</span></div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        accumulator.add (p);</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      }</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    };</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    <span class="comment">/* Fusion function object to invoke get point on every accumulator in a</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="comment">     * fusion sequence. */</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00281"></a><span class="lineno"><a class="line" href="structpcl_1_1detail_1_1_get_point.html">  281</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1detail_1_1_get_point.html">GetPoint</a></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    {</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; p;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      <span class="keywordtype">size_t</span> n;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <a class="code" href="structpcl_1_1detail_1_1_get_point.html">GetPoint</a> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point, <span class="keywordtype">size_t</span> num) : p (point), n (num) { }</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> AccumulatorT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      operator () (AccumulatorT&amp; accumulator)<span class="keyword"> const</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        accumulator.get (p, n);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      }</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    };</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  }</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;}</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_COMMON_IMPL_DETAIL_ACCUMULATORS_HPP */</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1detail_1_1_accumulator_curvature_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_accumulator_curvature.html">pcl::detail::AccumulatorCurvature</a></div><div class="ttdef"><b>Definition:</b> accumulators.hpp:120</div></div>
<div class="ttc" id="astructpcl_1_1detail_1_1_accumulator_intensity_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_accumulator_intensity.html">pcl::detail::AccumulatorIntensity</a></div><div class="ttdef"><b>Definition:</b> accumulators.hpp:170</div></div>
<div class="ttc" id="astructpcl_1_1detail_1_1_accumulator_label_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_accumulator_label.html">pcl::detail::AccumulatorLabel</a></div><div class="ttdef"><b>Definition:</b> accumulators.hpp:189</div></div>
<div class="ttc" id="astructpcl_1_1detail_1_1_accumulator_normal_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_accumulator_normal.html">pcl::detail::AccumulatorNormal</a></div><div class="ttdef"><b>Definition:</b> accumulators.hpp:87</div></div>
<div class="ttc" id="astructpcl_1_1detail_1_1_accumulator_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_accumulator_r_g_b_a.html">pcl::detail::AccumulatorRGBA</a></div><div class="ttdef"><b>Definition:</b> accumulators.hpp:139</div></div>
<div class="ttc" id="astructpcl_1_1detail_1_1_accumulator_x_y_z_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_accumulator_x_y_z.html">pcl::detail::AccumulatorXYZ</a></div><div class="ttdef"><b>Definition:</b> accumulators.hpp:66</div></div>
<div class="ttc" id="astructpcl_1_1detail_1_1_accumulators_1_1_is_compatible_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_accumulators_1_1_is_compatible.html">pcl::detail::Accumulators::IsCompatible</a></div><div class="ttdef"><b>Definition:</b> accumulators.hpp:234</div></div>
<div class="ttc" id="astructpcl_1_1detail_1_1_accumulators_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_accumulators.html">pcl::detail::Accumulators</a></div><div class="ttdef"><b>Definition:</b> accumulators.hpp:230</div></div>
<div class="ttc" id="astructpcl_1_1detail_1_1_add_point_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_add_point.html">pcl::detail::AddPoint</a></div><div class="ttdef"><b>Definition:</b> accumulators.hpp:263</div></div>
<div class="ttc" id="astructpcl_1_1detail_1_1_get_point_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_get_point.html">pcl::detail::GetPoint</a></div><div class="ttdef"><b>Definition:</b> accumulators.hpp:282</div></div>
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